Mercurial Hosting > traffic-intelligence

annotate python/cvutils.py @ 393:eaf7765221d9

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
added code to create bounding boxes and display them (inc scripts)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 26 Jul 2013 02:12:08 -0400
parents 1917db662aa7
children 167f6ec44ec5
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
rev   line source
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1 #! /usr/bin/env python
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
2 '''Image/Video utilities'''
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
3
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
4 import Image, ImageDraw # PIL
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
5 try:
151
4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 150
diff changeset
6 import cv2
365
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
7 opencvAvailable = True
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
8 except ImportError:
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
9 print('OpenCV library could not be loaded')
365
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
10 opencvAvailable = False
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
11 try:
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
12 import skimage
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
13 skimageAvailable = True
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
14 except ImportError:
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
15 print('Scikit-image library could not be loaded')
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
16 skimageAvailable = False
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
17
99
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
18 from sys import stdout
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
19
151
4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 150
diff changeset
20 import utils
4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 150
diff changeset
21
44
be3ae926e4e8 added simple intersection description, function to load collision points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 28
diff changeset
22 #import aggdraw # agg on top of PIL (antialiased drawing)
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
23 #import utils
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
24
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
25 __metaclass__ = type
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
26
151
4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 150
diff changeset
27 cvRed = (0,0,255)
4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 150
diff changeset
28 cvGreen = (0,255,0)
4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 150
diff changeset
29 cvBlue = (255,0,0)
4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 150
diff changeset
30 cvColors = utils.PlottingPropertyValues([cvRed,
4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 150
diff changeset
31 cvGreen,
4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 150
diff changeset
32 cvBlue])
4af774bb186d wrote a simple script to compute homography from point correspondences and display the reprojection for visual verification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 150
diff changeset
33
305
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
34 def quitKey(key):
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
35 return chr(key&255)== 'q' or chr(key&255) == 'Q'
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
36
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
37 def saveKey(key):
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
38 return chr(key&255) == 's'
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
39
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
40 def drawLines(filename, origins, destinations, w = 1, resultFilename='image.png'):
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
41 '''Draws lines over the image '''
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
42
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
43 img = Image.open(filename)
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
44
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
45 draw = ImageDraw.Draw(img)
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
46 #draw = aggdraw.Draw(img)
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
47 #pen = aggdraw.Pen("red", width)
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
48 for p1, p2 in zip(origins, destinations):
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
49 draw.line([p1.x, p1.y, p2.x, p2.y], width = w, fill = (256,0,0))
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
50 #draw.line([p1.x, p1.y, p2.x, p2.y], pen)
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
51 del draw
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
52
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
53 #out = utils.openCheck(resultFilename)
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
54 img.save(resultFilename)
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
55
159
115f7f90286d updated calibration-translation and added function to convert point correspondences
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 156
diff changeset
56 def matlab2PointCorrespondences(filename):
115f7f90286d updated calibration-translation and added function to convert point correspondences
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 156
diff changeset
57 '''Loads and converts the point correspondences saved
115f7f90286d updated calibration-translation and added function to convert point correspondences
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 156
diff changeset
58 by the matlab camera calibration tool'''
115f7f90286d updated calibration-translation and added function to convert point correspondences
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 156
diff changeset
59 from numpy.lib.io import loadtxt, savetxt
115f7f90286d updated calibration-translation and added function to convert point correspondences
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 156
diff changeset
60 from numpy.lib.function_base import append
115f7f90286d updated calibration-translation and added function to convert point correspondences
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 156
diff changeset
61 points = loadtxt(filename, delimiter=',')
115f7f90286d updated calibration-translation and added function to convert point correspondences
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 156
diff changeset
62 savetxt(utils.removeExtension(filename)+'-point-correspondences.txt',append(points[:,:2].T, points[:,3:].T, axis=0))
115f7f90286d updated calibration-translation and added function to convert point correspondences
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 156
diff changeset
63
160
b0719b3ad3db created function to load point correspondences and updates scripts that use it
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 159
diff changeset
64 def loadPointCorrespondences(filename):
b0719b3ad3db created function to load point correspondences and updates scripts that use it
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 159
diff changeset
65 '''Loads and returns the corresponding points in world (first 2 lines) and image spaces (last 2 lines)'''
233
ab1a11176d7b initial sqlite code and bug corrected in cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 227
diff changeset
66 from numpy.lib.npyio import loadtxt
160
b0719b3ad3db created function to load point correspondences and updates scripts that use it
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 159
diff changeset
67 from numpy import float32
b0719b3ad3db created function to load point correspondences and updates scripts that use it
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 159
diff changeset
68 points = loadtxt(filename, dtype=float32)
b0719b3ad3db created function to load point correspondences and updates scripts that use it
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 159
diff changeset
69 return (points[:2,:].T, points[2:,:].T) # (world points, image points)
b0719b3ad3db created function to load point correspondences and updates scripts that use it
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 159
diff changeset
70
99
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
71 def cvMatToArray(cvmat):
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
72 '''Converts an OpenCV CvMat to numpy array.'''
384
6da9cf5609aa adding deprecated messages if old cvmat format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
73 print('Deprecated, use new interface')
99
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
74 from numpy.core.multiarray import zeros
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
75 a = zeros((cvmat.rows, cvmat.cols))#array([[0.0]*cvmat.width]*cvmat.height)
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
76 for i in xrange(cvmat.rows):
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
77 for j in xrange(cvmat.cols):
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
78 a[i,j] = cvmat[i,j]
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
79 return a
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
80
365
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
81 if opencvAvailable:
302
9d88a4d97473 corrected bug in compute-homography
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
82 def computeHomography(srcPoints, dstPoints, method=0, ransacReprojThreshold=0.0):
9d88a4d97473 corrected bug in compute-homography
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
83 '''Returns the homography matrix mapping from srcPoints to dstPoints (dimension Nx2)'''
9d88a4d97473 corrected bug in compute-homography
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
84 H, mask = cv2.findHomography(srcPoints, dstPoints, method, ransacReprojThreshold)
9d88a4d97473 corrected bug in compute-homography
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
85 return H
9d88a4d97473 corrected bug in compute-homography
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
86
152
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 151
diff changeset
87 def arrayToCvMat(a, t = cv2.cv.CV_64FC1):
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
88 '''Converts a numpy array to an OpenCV CvMat, with default type CV_64FC1.'''
384
6da9cf5609aa adding deprecated messages if old cvmat format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
89 print('Deprecated, use new interface')
152
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 151
diff changeset
90 cvmat = cv2.cv.CreateMat(a.shape[0], a.shape[1], t)
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
91 for i in range(cvmat.rows):
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
92 for j in range(cvmat.cols):
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
93 cvmat[i,j] = a[i,j]
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
94 return cvmat
99
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
95
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
96 def draw(img, positions, color, lastCoordinate = None):
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
97 last = lastCoordinate+1
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
98 if lastCoordinate != None and lastCoordinate >=0:
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
99 last = min(positions.length()-1, lastCoordinate)
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
100 for i in range(0, last-1):
223
c31722fcc9de minor modifications for integer drawing in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 218
diff changeset
101 cv2.line(img, positions[i].asint().astuple(), positions[i+1].asint().astuple(), color)
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
102
385
1917db662aa7 added rescaling options to scripts play-video and display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 384
diff changeset
103 def cvImshow(windowName, img, rescale = 1.0):
1917db662aa7 added rescaling options to scripts play-video and display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 384
diff changeset
104 'Rescales the image (in particular if too large)'
1917db662aa7 added rescaling options to scripts play-video and display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 384
diff changeset
105 from cv2 import resize
1917db662aa7 added rescaling options to scripts play-video and display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 384
diff changeset
106 if rescale != 1.:
1917db662aa7 added rescaling options to scripts play-video and display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 384
diff changeset
107 size = (int(round(img.shape[1]*rescale)), int(round(img.shape[0]*rescale)))
1917db662aa7 added rescaling options to scripts play-video and display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 384
diff changeset
108 resizedImg = resize(img, size)
1917db662aa7 added rescaling options to scripts play-video and display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 384
diff changeset
109 cv2.imshow(windowName, resizedImg)
1917db662aa7 added rescaling options to scripts play-video and display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 384
diff changeset
110 else:
1917db662aa7 added rescaling options to scripts play-video and display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 384
diff changeset
111 cv2.imshow(windowName, img)
1917db662aa7 added rescaling options to scripts play-video and display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 384
diff changeset
112
1917db662aa7 added rescaling options to scripts play-video and display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 384
diff changeset
113 def playVideo(filename, firstFrameNum = 0, frameRate = -1, interactive = False, printFrames = True, text = None, rescale = 1.):
150
404f3cade05f added python function to get image frames from video filenames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 149
diff changeset
114 '''Plays the video'''
305
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
115 wait = 5
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
116 if frameRate > 0:
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
117 wait = int(round(1000./frameRate))
381
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
118 if interactive:
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
119 wait = 0
149
0f552c8b1650 added python function to play video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 116
diff changeset
120 capture = cv2.VideoCapture(filename)
0f552c8b1650 added python function to play video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 116
diff changeset
121 if capture.isOpened():
0f552c8b1650 added python function to play video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 116
diff changeset
122 key = -1
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
123 ret = True
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
124 frameNum = firstFrameNum
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
125 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum)
305
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
126 while ret and not quitKey(key):
149
0f552c8b1650 added python function to play video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 116
diff changeset
127 ret, img = capture.read()
0f552c8b1650 added python function to play video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 116
diff changeset
128 if ret:
381
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
129 if printFrames:
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
130 print('frame {0}'.format(frameNum))
226
91197f6a03fe added goto framenum
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 224
diff changeset
131 frameNum+=1
381
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
132 if text != None:
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
133 cv2.putText(img, text, (10,50), cv2.FONT_HERSHEY_PLAIN, 1, cvRed)
385
1917db662aa7 added rescaling options to scripts play-video and display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 384
diff changeset
134 cvImshow('frame', img, rescale)
305
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
135 key = cv2.waitKey(wait)
346
5f75d6c23ed5 added opencv function to destroy OpenCV windows (seems to work only on Windows)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 319
diff changeset
136 cv2.destroyAllWindows()
149
0f552c8b1650 added python function to play video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 116
diff changeset
137
216
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
138 def getImagesFromVideo(filename, nImages = 1, saveImage = False):
150
404f3cade05f added python function to get image frames from video filenames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 149
diff changeset
139 '''Returns nImages images from the video sequence'''
404f3cade05f added python function to get image frames from video filenames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 149
diff changeset
140 images = []
404f3cade05f added python function to get image frames from video filenames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 149
diff changeset
141 capture = cv2.VideoCapture(filename)
404f3cade05f added python function to get image frames from video filenames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 149
diff changeset
142 if capture.isOpened():
404f3cade05f added python function to get image frames from video filenames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 149
diff changeset
143 ret = False
216
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
144 numImg = 0
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
145 while numImg<nImages:
171
8e7b354666ec corrected bug in to get images from video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 160
diff changeset
146 ret, img = capture.read()
216
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
147 i = 0
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
148 while not ret and i<10:
150
404f3cade05f added python function to get image frames from video filenames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 149
diff changeset
149 ret, img = capture.read()
216
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
150 i += 1
171
8e7b354666ec corrected bug in to get images from video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 160
diff changeset
151 if img.size>0:
216
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
152 numImg +=1
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
153 if saveImage:
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
154 cv2.imwrite('image{0:04d}.png'.format(numImg), img)
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
155 else:
51acf43e421a modified the function to read and save images from a movie
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 204
diff changeset
156 images.append(img)
150
404f3cade05f added python function to get image frames from video filenames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 149
diff changeset
157 return images
149
0f552c8b1650 added python function to play video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 116
diff changeset
158
393
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 385
diff changeset
159 def displayTrajectories(videoFilename, objects, boundingBoxes, homography = None, firstFrameNum = 0, lastFrameNumArg = None, printFrames = True, rescale = 1.):
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
160 '''Displays the objects overlaid frame by frame over the video '''
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
161 capture = cv2.VideoCapture(videoFilename)
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
162 if capture.isOpened():
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
163 key = -1
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
164 ret = True
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
165 frameNum = firstFrameNum
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 226
diff changeset
166 capture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, firstFrameNum)
248
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
167 if not lastFrameNumArg:
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
168 from sys import maxint
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
169 lastFrameNum = maxint
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
170 else:
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
171 lastFrameNum = lastFrameNumArg
305
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
172 while ret and not quitKey(key) and frameNum < lastFrameNum:
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
173 ret, img = capture.read()
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
174 if ret:
381
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
175 if printFrames:
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 365
diff changeset
176 print('frame {0}'.format(frameNum))
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
177 for obj in objects:
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
178 if obj.existsAtInstant(frameNum):
236
eb4525853030 added script to display trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
179 if not hasattr(obj, 'projectedPositions'):
218
b5772df11b37 corrected bugs to load objects and display trajectories over videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 216
diff changeset
180 if homography != None:
b5772df11b37 corrected bugs to load objects and display trajectories over videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 216
diff changeset
181 obj.projectedPositions = obj.positions.project(homography)
b5772df11b37 corrected bugs to load objects and display trajectories over videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 216
diff changeset
182 else:
b5772df11b37 corrected bugs to load objects and display trajectories over videos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 216
diff changeset
183 obj.projectedPositions = obj.positions
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
184 draw(img, obj.projectedPositions, cvRed, frameNum-obj.getFirstInstant())
393
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 385
diff changeset
185 if frameNum in boundingBoxes.keys():
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 385
diff changeset
186 for rect in boundingBoxes[frameNum]:
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 385
diff changeset
187 cv2.rectangle(img, rect[0].asint().astuple(), rect[1].asint().astuple(), cvRed)
223
c31722fcc9de minor modifications for integer drawing in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 218
diff changeset
188 cv2.putText(img, '{0}'.format(obj.num), obj.projectedPositions[frameNum-obj.getFirstInstant()].asint().astuple(), cv2.FONT_HERSHEY_PLAIN, 1, cvRed)
385
1917db662aa7 added rescaling options to scripts play-video and display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 384
diff changeset
189 cvImshow('frame', img, rescale)
266
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 248
diff changeset
190 key = cv2.waitKey()
305
ca9131968bce added sample to replay video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 303
diff changeset
191 if saveKey(key):
266
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 248
diff changeset
192 cv2.imwrite('image.png', img)
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
193 frameNum += 1
346
5f75d6c23ed5 added opencv function to destroy OpenCV windows (seems to work only on Windows)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 319
diff changeset
194 cv2.destroyAllWindows()
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 171
diff changeset
195
99
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
196 def printCvMat(cvmat, out = stdout):
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
197 '''Prints the cvmat to out'''
384
6da9cf5609aa adding deprecated messages if old cvmat format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
198 print('Deprecated, use new interface')
99
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
199 for i in xrange(cvmat.rows):
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
200 for j in xrange(cvmat.cols):
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
201 out.write('{0} '.format(cvmat[i,j]))
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
202 out.write('\n')
e7dc5a780f09 added conversion functions and homography computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 98
diff changeset
203
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
204 def projectArray(homography, points):
384
6da9cf5609aa adding deprecated messages if old cvmat format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
205 '''Returns the coordinates of the projected points through homography
6da9cf5609aa adding deprecated messages if old cvmat format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
206 (format: array 2xN points)'''
315
82b9be447608 bugfix for dot import
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 305
diff changeset
207 from numpy.core import dot
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
208 from numpy.core.multiarray import array
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
209 from numpy.lib.function_base import append
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
210
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
211 if points.shape[0] != 2:
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
212 raise Exception('points of dimension {0} {1}'.format(points.shape[0], points.shape[1]))
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
213
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
214 if (homography!=None) and homography.size>0:
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
215 augmentedPoints = append(points,[[1]*points.shape[1]], 0)
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
216 prod = dot(homography, augmentedPoints)
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
217 return prod[0:2]/prod[2]
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
218 else:
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
219 return p
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
220
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
221 def project(homography, p):
319
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 315
diff changeset
222 '''Returns the coordinates of the projection of the point p with coordinates p[0], p[1]
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
223 through homography'''
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 236
diff changeset
224 from numpy import array
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 236
diff changeset
225 return projectArray(homography, array([[p[0]],[p[1]]]))
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
226
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
227 def projectTrajectory(homography, trajectory):
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
228 '''Projects a series of points in the format
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
229 [[x1, x2, ...],
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
230 [y1, y2, ...]]'''
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
231 from numpy.core.multiarray import array
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 63
diff changeset
232 return projectArray(homography, array(trajectory))
28
9ae709a2e8d0 rearranged code
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
233
48
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 44
diff changeset
234 def invertHomography(homography):
384
6da9cf5609aa adding deprecated messages if old cvmat format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
235 '''Returns an inverted homography
6da9cf5609aa adding deprecated messages if old cvmat format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
236 Unnecessary for reprojection over camera image'''
48
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 44
diff changeset
237 from numpy.linalg.linalg import inv
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 44
diff changeset
238 invH = inv(homography)
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 44
diff changeset
239 invH /= invH[2,2]
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 44
diff changeset
240 return invH
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 44
diff changeset
241
365
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
242 if opencvAvailable:
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
243 def computeTranslation(img1, img2, img1Points, maxTranslation2, minNMatches, windowSize = (5,5), level = 5, criteria = (cv2.TERM_CRITERIA_EPS, 0, 0.01)):
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
244 '''Computes the translation of img2 with respect to img1
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
245 (loaded using OpenCV as numpy arrays)
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
246 img1Points are used to compute the translation
100
2a3cafcf5faf added function to compute the translation between two images
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 99
diff changeset
247
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
248 TODO add diagnostic if data is all over the place, and it most likely is not a translation (eg zoom, other non linear distortion)'''
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
249 from numpy.core.multiarray import array
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
250 from numpy.lib.function_base import median
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
251 from numpy.core.fromnumeric import sum
100
2a3cafcf5faf added function to compute the translation between two images
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 99
diff changeset
252
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
253 nextPoints = array([])
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
254 (img2Points, status, track_error) = cv2.calcOpticalFlowPyrLK(img1, img2, img1Points, nextPoints, winSize=windowSize, maxLevel=level, criteria=criteria)
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
255 # calcOpticalFlowPyrLK(prevImg, nextImg, prevPts[, nextPts[, status[, err[, winSize[, maxLevel[, criteria[, derivLambda[, flags]]]]]]]]) -> nextPts, status, err
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
256 delta = []
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
257 for (k, (p1,p2)) in enumerate(zip(img1Points, img2Points)):
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
258 if status[k] == 1:
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
259 dp = p2-p1
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
260 d = sum(dp**2)
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
261 if d < maxTranslation2:
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
262 delta.append(dp)
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
263 if len(delta) >= minNMatches:
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
264 return median(delta, axis=0)
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
265 else:
156
2eef5620c0b3 added key values for opencv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 154
diff changeset
266 print(dp)
112
67555e968b5e added tests if OpenCV python libraries are not available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 102
diff changeset
267 return None
365
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
268
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
269 if skimageAvailable:
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
270 def createHOGTrainingSet(imageDirectory, classLabel, rescaleSize = (64, 64), orientations=9, pixelsPerCell=(8, 8), cellsPerBlock=(3, 3), visualize=False, normalize=False):
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
271 from os import listdir
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
272 from matplotlib.pyplot import imread, imshow, figure, subplot
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
273 from skimage.feature import hog
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
274 from skimage import color, transform
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
275 from numpy import array, float32
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
276
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
277 inputData = []
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
278 for filename in listdir(imageDirectory):
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
279 img = imread(imageDirectory+filename)
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
280 bwImg = color.rgb2gray(img)
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
281 inputImg = transform.resize(bwImg, rescaleSize)
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
282 features = hog(inputImg, orientations, pixelsPerCell, cellsPerBlock, visualize, normalize)
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
283 if visualize:
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
284 hogViz = features[1]
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
285 features = features[0]
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
286 figure()
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
287 subplot(1,2,1)
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
288 imshow(img)
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
289 subplot(1,2,2)
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
290 imshow(hogViz)
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
291 inputData.append(features)
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
292
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
293 nImages = len(inputData)
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
294 return array(inputData, dtype = float32), array([classLabel]*nImages, dtype = float32)
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
295
22ddb8f85495 added function to create HOG training set
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 346
diff changeset
296